A Delay-tolerant, Potential field-based, Network Implementation of an Integrated Navigation System

Gupta, Rachana Ashok; Masoud, Ahmad A.; Chow, Mo-Yuen

doi:10.1109/iros.2006.281822

Cited by 9 publications

(9 citation statements)

References 51 publications

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“…The HPF-based approach may be easily modified to take advantage of a drift field that maybe present in an environment [67] in a manner that suits planning for energy exhaustive missions. It was also demonstrated in [68] that the HPF approach can work with integrated navigation systems that can efficiently function in a real-life situation. An HPF-based, decentralized, multi-agent approach was suggested in [69].…”

Section: Hpf-based Planning Techniques: An Overviewmentioning

confidence: 99%

A harmonic potential field approach for joint planning and control of a rigid, separable nonholonomic, mobile robot

Masoud

2013

Robotics and Autonomous Systems

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: The main objective of this paper is to provide a tool for performing path planning at the servo-level of a mobile robot. The ability to perform, in a provably-correct manner, such a complex task at the servo-level can lead to a large increase in the speed of operation, low energy consumption and high quality of response. Planning has been traditionally limited to the high level controller of a robot. The guidance velocity signal from this stage is usually converted to a control signal using what is known as an electronic speed controller (ESC). This paper demonstrates the ability of the harmonic potential field (HPF) approach to generate a provably-correct, constrained, well-behaved trajectory and control signal for a rigid, nonholonomic robot in a stationary, cluttered environment. It is shown that the HPF-based, servo-level planner can address a large number of challenges facing planning in a realistic situation. The suggested approach migrates the rich and provably-correct properties of the solution trajectories from an HPF planner to those of the robot. This is achieved using a synchronizing control signal whose aim is to align the velocity of the robot in its local coordinates, with that of the gradient of the HPF. The link between the two is made possible by representing the robot using what the paper terms "separable form." The context-sensitive and goal-oriented control signal used to steer the robot is demonstrated to be well-behaved and robust in the presence of actuator noise, saturation and uncertainty in the parameters. The approach is developed, proofs of correctness are provided and the capabilities of the scheme are demonstrated using simulation results.

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Section: Hpf-based Planning Techniques: An Overviewmentioning

confidence: 99%

A harmonic potential field approach for joint planning and control of a rigid, separable nonholonomic, mobile robot

Masoud

2013

Robotics and Autonomous Systems

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“…For the inherent characteristics of inertial sensors, the positioning error of the INS is accumulated and diverged over time, which makes it difficult to ensure long-term accuracy. Other methods are needed to correct systematic positioning errors periodically [1]- [3]. The irregular shape and inhomogeneous density result in different gravity anomaly at various points on the earth, which shows a function of spatial position (latitude, longitude, altitude) [4].…”

Section: Introductionmentioning

confidence: 99%

Navigability Analysis of Local Gravity Map With Projection Pursuit-Based Selection Method by Using Gravitation Field Algorithm

Liu

Xin

2019

IEEE Access

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The positioning accuracy of the gravity-aided navigation is closely related to the selection of local gravity maps. In this paper, the local gravity maps are converted into 8-bit gray images. The navigability features of the local gravity maps are extracted by using the image texture feature analysis methods, such as the gray histogram complexity, the Sobel operator, and the gray level co-occurrence matrix, and the navigability comprehensive evaluation of each local gravity map is obtained by using the projection pursuit model. According to the nebula model, a gravitation field algorithm is proposed. The gravitation field algorithm, genetic algorithm, and firefly algorithm are used to obtain the optimal projection direction of the projection pursuit model, respectively. We compared the optimizing results and gave the navigability evaluation of local gravity maps that provide the basis for the selection of local gravity map. The comparison results show that the gravitation field algorithm has the best performance in obtaining the optimal projection direction, and the contributions of the navigability features in the navigability evaluation are most equal. Under the same experimental conditions, the local gravity map selected by the method proposed in this paper has the highest positioning accuracy and the best matching track. INDEX TERMS Navigability analysis, gravitation field algorithm, projecting pursuit-based selection method, gravity navigability features.

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“…Separated calibration is a classical method that has been used domestically and abroad. This method requires high-precision equipment (such as turntables) to provide the IMU with precise excitation of specific forces and angular rates [ 16 ], and the parameters in the calibration model can then be obtained via an optimal estimation algorithm [ 17 , 18 , 19 , 20 ]. The separated calibration method has the advantage of high precision, but its calibration accuracy for model parameters is easily affected by turntable errors and IMU mounting errors.…”

Section: Introductionmentioning

confidence: 99%

A Separated Calibration Method for Inertial Measurement Units Mounted on Three-Axis Turntables

Dong

Ren

Chen

et al. 2018

Sensors

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Inertial Measurement Unit (IMU) calibration accuracy is easily affected by turntable errors, so the primary aim of this study is to reduce the dependence on the turntable’s precision during the calibration process. Firstly, the indicated-output of the IMU considering turntable errors is constructed and with the introduction of turntable errors, the functional relationship between turntable errors and the indicated-output was derived. Then, based on a D-suboptimal design, a calibration method for simultaneously identifying the IMU error model parameters and the turntable errors was proposed. Simulation results showed that some turntable errors could thus be effectively calibrated and automatically compensated. Finally, the theoretical validity was verified through experiments. Compared with the traditional method, the method proposed in this paper can significantly reduce the influence of the turntable errors on the IMU calibration accuracy.

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A Delay-tolerant, Potential field-based, Network Implementation of an Integrated Navigation System

Cited by 9 publications

References 51 publications

A harmonic potential field approach for joint planning and control of a rigid, separable nonholonomic, mobile robot

A harmonic potential field approach for joint planning and control of a rigid, separable nonholonomic, mobile robot

Navigability Analysis of Local Gravity Map With Projection Pursuit-Based Selection Method by Using Gravitation Field Algorithm

A Separated Calibration Method for Inertial Measurement Units Mounted on Three-Axis Turntables

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